Vector¶

Vector is base class of other vector like classes. It represents a series of vectors.

InĀ [1]:
from py3d import Vector
Vector()
Out[1]:
Vector([], dtype=float64)
InĀ [3]:
Vector([0, 0, 0, 0])
Out[3]:
Vector([0, 0, 0, 0])
InĀ [5]:
Vector([1, 2, -4])
Out[5]:
Vector([ 1,  2, -4])
InĀ [7]:
Vector([1, 2, 3]).tile(2)
Out[7]:
Vector([[1, 2, 3],
        [1, 2, 3]])
InĀ [9]:
import py3d
py3d.Vector([1, 2, 0, 3])
Out[9]:
Vector([1, 2, 0, 3])
InĀ [10]:
Vector([1]).tile(2)
Out[10]:
Vector([[1],
        [1]])

Get unit vector

InĀ [12]:
import py3d
V32 = py3d.Vector([
    [1, 3],
    [2, -9],
    [0.1, -3]])
V32.U
Out[12]:
Vector([[ 0.31622777,  0.9486833 ],
        [ 0.21693046, -0.97618706],
        [ 0.03331483, -0.99944491]])

Get length of vectors

InĀ [13]:
V32.L
Out[13]:
array([3.16227766, 9.21954446, 3.0016662 ])
InĀ [15]:
from numpy import allclose
assert allclose(V32.U.L, [[1], [1], [1]])

Get homogeneous vector

InĀ [16]:
V32.H
Out[16]:
Vector3([[ 1. ,  3. ,  1. ],
         [ 2. , -9. ,  1. ],
         [ 0.1, -3. ,  1. ]])

Get a series of random vectors

InĀ [18]:
import py3d
py3d.Vector.rand(2, 3, 4)
Out[18]:
Vector([[[0.99703828, 0.09771217, 0.94933087, 0.13501655],
         [0.36253427, 0.91112009, 0.1030082 , 0.97323757],
         [0.14134559, 0.44510516, 0.82162702, 0.1639713 ]],

        [[0.81692578, 0.37519085, 0.10637058, 0.11314049],
         [0.46515581, 0.81665225, 0.64186667, 0.22598582],
         [0.43685295, 0.8705955 , 0.3844057 , 0.8495464 ]]])
InĀ [20]:
import py3d
py3d.Vector([[0, 0], [1, 2], [3, 4]]).diff()
Out[20]:
Vector([[1, 2],
        [2, 2]])

Fill nan elements of a Vector

InĀ [22]:
import py3d
py3d.Vector([0, 1, float("nan")]).fillna(-1)
Out[22]:
Vector([ 0.,  1., -1.])

Drop duplicates

InĀ [23]:
import py3d
py3d.Vector([
    [1,2,1],
    [2,3,4],
    [1,2,1],
    [5,3,4]
]).unique()
Out[23]:
Vector([[1, 2, 1],
        [2, 3, 4],
        [5, 3, 4]])

Read a txt file storing poses

InĀ [24]:
import py3d
py3d.read_txt("poses.txt")
Out[24]:
Vector([[ 1.00000000e+00, -3.80098575e-01, -9.24678213e-01, ...,  5.21001950e-03, -9.98936438e-01,  1.15277604e+02],
        [ 9.00000000e+00, -3.34781384e-01, -9.41921870e-01, ...,  1.16255671e-02, -9.98851138e-01,  1.15261281e+02],
        [ 1.40000000e+01, -2.92967993e-01, -9.55757956e-01, ...,  1.35067170e-02, -9.98854036e-01,  1.15246581e+02],
        ...,
        [ 1.14960000e+04, -6.47337507e-01, -7.61727296e-01, ..., -2.49362162e-02, -9.99613920e-01,  1.15055190e+02],
        [ 1.14980000e+04, -6.47715242e-01, -7.61434833e-01, ..., -2.38185034e-02, -9.99640595e-01,  1.15053432e+02],
        [ 1.15010000e+04, -6.48288354e-01, -7.60949669e-01, ..., -2.59908046e-02, -9.99615736e-01,  1.15046860e+02]])

Write csv file

InĀ [25]:
import py3d
py3d.Vector([[1,2,3],[4,5,6]]).to_csv("tmp.csv")

Read csv file

InĀ [26]:
import py3d
py3d.read_csv("tmp.csv")
Out[26]:
Vector([[1., 2., 3.],
        [4., 5., 6.]])

Read pcd file

InĀ [27]:
import py3d

py3d.read_pcd("ascii.pcd").xyz.as_point()
Out[27]:
InĀ [28]:
import py3d
pcd = py3d.read_pcd("binary.pcd")
print("min", pcd.min())
print("max", pcd.max())
pcd.xyz.as_point().paint(py3d.Color.map(pcd.z))
min [-1.09082863e+02 -4.56674919e+01 -4.33038330e+00  2.50000000e+01  1.22393358e+09]
max [9.74602280e+01 8.35153122e+01 4.22846746e+00 2.55000000e+02 1.22393358e+09]
Out[28]:

Write npy file

InĀ [29]:
import py3d
py3d.Vector([1,2,3]).to_npy("tmp.npy")

Read npy file

InĀ [30]:
import py3d
py3d.read_npy("tmp.npy")
Out[30]:
Vector([1, 2, 3])

Read a real lidar point cloud from a npy file

InĀ [31]:
import py3d
py3d.read_npy("lidar.npy").xyz.as_point()
Out[31]:

Read a depth map from a npy file

InĀ [32]:
import py3d
py3d.read_npy("depth.npy").z.as_image(sample_rate=1)
Out[32]:

Read ply file

InĀ [33]:
import py3d
vertices, mesh = py3d.read_ply("cube.ply")
print(vertices)
mesh
[[0. 0. 0.]
 [0. 0. 1.]
 [0. 1. 1.]
 [0. 1. 0.]
 [1. 0. 0.]
 [1. 0. 1.]
 [1. 1. 1.]
 [1. 1. 0.]]
Out[33]: